JP7380685B2 - Mobile crane with remote control terminal and remote control terminal - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Law (1) Exhibition date April 8, 2019 (2) Exhibition name bauma 2019 (3) Venue Messe Munchen (Messegelaende, D-81823 Munchen, Germany) (4) Publication Person: Tadano Co., Ltd.

The present invention relates to a remote control terminal and a mobile crane equipped with a remote control terminal.

BACKGROUND ART Conventionally, mobile cranes in which an actuator of a crane device is remotely controlled and remote control terminals that remotely control an actuator of a crane device have been proposed. When working using a remote control terminal, a worker can perform the work while checking the movement state of the cargo near the cargo or at a target position of the cargo, which is far from the operating device of the crane device.

In such a mobile crane, the relative positional relationship between the crane device and the remote control terminal changes depending on the work situation. Therefore, a worker who operates a crane device using a remote control terminal has to operate the operating tool of the remote control terminal while always considering the relative positional relationship with the working device. Therefore, regardless of the relative positional relationship between the crane device and the remote control terminal, the operation direction of the operating tool of the remote control terminal and the operating direction of the crane device are made to match, so that the crane device can be operated easily and easily. There are known remote control terminals that can do this. For example, as in Patent Document 1.

The remote control device (remote control terminal) described in Patent Document 1 is provided with a signal transmitter that transmits a laser beam or the like having high straightness as a reference signal. Further, the control device on the crane (work device) side is provided with a reference signal receiving section. The remote control device is configured such that the reference coordinate system of the operating tool and the transmission direction of the reference signal match. The crane-side control device specifies the direction of the remote control device by receiving a reference signal from the remote control device at the receiving unit, and matches the coordinate system of the crane with the coordinate system of the remote control device. As a result, the operating direction of the operating tool of the remote control device matches the operating direction of the crane, making it easy and simple to operate the crane with the remote control device, regardless of the relative positional relationship between the crane and the remote control device. can be done.

However, in the mobile crane described in Patent Document 1, the receiving unit receives a reference signal to identify the relative direction of the remote control device to the work machine, and identifies the reference coordinate system of the operating tool and the coordinate system of the work machine. and are consistent with each other. Therefore, at sites where the crane cannot be seen from the remote control device or where there are many obstacles, the receiver cannot receive the reference signal and the coordinate system of the mobile crane cannot be matched to the coordinate system of the remote control device. There were cases where it was not possible to do so.

Japanese Patent Application Publication No. 2010-228905

An object of the present invention is to provide a remote control terminal and a mobile crane equipped with a remote control terminal, which can prevent erroneous operations during remote control of a mobile crane and easily and easily perform remote control of a mobile crane. shall be.

The problem to be solved by the present invention is as described above, and next, means for solving this problem will be explained.

That is, the first invention is
A remote control terminal for a mobile crane equipped with a position detection unit that detects the current position of the tip of the boom,
a three-dimensional information acquisition unit that acquires three-dimensional information of the mobile crane and each feature within the movable range of the mobile crane;
a display unit that displays three-dimensional images of the mobile crane and each of the features within the movable range of the mobile crane in a virtual space;
a crane operating unit that receives a crane operation from an operator and remotely controls the mobile crane in response to the crane operation;
an image operation unit that receives an image display changing operation from the operator and operates a viewpoint position and a viewpoint direction in the three-dimensional image displayed on the display unit in response to the image display changing operation;
a control unit configured to be able to communicate with a control device of the mobile crane and controlling each part of the remote control terminal;
The control section,
acquiring posture information of the mobile crane, movable range information of the mobile crane, and current position information of the boom tip from a control device of the mobile crane;
The current three-dimensional image of the mobile crane and the current mobile crane are based on the information acquired from the control device of the mobile crane and the three-dimensional information acquired by the three-dimensional information acquisition unit. generating the three-dimensional image of a feature within a movable range of;
displaying the generated three-dimensional image in a virtual space of the display unit at the position of the viewpoint and the direction of the viewpoint input to the image operation unit;
When the crane operation is input to the crane operation unit, the coordinate system of the horizontal plane of the three-dimensional image displayed on the display unit and the coordinate system of the horizontal plane of the three-dimensional image displayed on the display unit based on the position of the viewpoint and the direction of the viewpoint are generating a control signal for remotely operating the mobile crane so that the boom tip displayed on the display section moves horizontally in the direction of operation of the crane operation. do,
It is a remote control terminal.

The second invention is
In the above remote control terminal,
The crane operation unit is configured to be able to operate the three-dimensional image of the mobile crane displayed on the display unit,
The control unit generates a control signal for remotely operating the mobile crane based on operation information of the three-dimensional image by the crane operation unit.

The third invention is
In the above remote control terminal,
The control section acquires an image taken by a lifting camera included in the mobile crane, and displays the acquired image on the display section together with the three-dimensional image.

The fourth invention is
A remote control terminal for a mobile crane equipped with a position detection unit that detects the current position of the tip of the boom,
an aerial camera that photographs the mobile crane and features within the movable range of the mobile crane;
a photographing information acquisition unit that acquires an image photographed by the aerial camera, and the position coordinates and photographing direction of the aerial camera;
a display unit that displays the video;
a crane operating unit that receives a crane operation from an operator and remotely controls the mobile crane in response to the crane operation;
a control unit configured to be able to communicate with a control device of the mobile crane and controlling each part of the remote control terminal;
The control section,
acquiring posture information of the mobile crane and current position information of the boom tip of the mobile crane from a control device of the mobile crane;
displaying the video image acquired by the shooting information acquisition unit on the display unit;
When the crane operation is input to the crane operation section, the coordinate system of the horizontal plane of the image displayed on the display section and the coordinate system of the horizontal plane of the image displayed on the display section are generating a control signal for remotely operating the mobile crane so that the boom tip displayed on the display section moves horizontally in the direction of operation of the crane operation. do,
It is a remote control terminal.

The fifth invention is
In the above remote control terminal,
an unmanned flying vehicle having the aerial camera;
an aircraft operating unit that operates the unmanned aircraft,
The photographing information acquisition unit acquires the position coordinates of the unmanned aerial vehicle and the direction of the aerial camera as the position coordinates and photographing direction of the aerial camera,
The image taken by the aerial camera of the unmanned flying vehicle operated by the flying vehicle operating unit is displayed on the display unit.

The sixth invention is
Equipped with the above remote control terminal,
actuating a boom based on the control signal received from the remote control terminal;
It is a mobile crane.

The present invention has the following effects.

In the first invention and the sixth invention, the tip of the boom in the three-dimensional image of the mobile crane in the virtual space displayed from any viewpoint in any direction is in the operating direction of the crane operating unit in the displayed state. Since the remote control terminal generates a control signal to move the mobile crane, the mobile crane can be intuitively remotely controlled without being aware of the positional relationship of the viewpoint with respect to the mobile crane. This prevents erroneous operations during remote control of the mobile crane, and allows remote control of the mobile crane to be performed easily and easily.

In the second invention, the control signal for the mobile crane is generated based on the movement of the mobile crane using a three-dimensional image in the virtual space. The crane is operated. This prevents erroneous operations during remote control of the mobile crane, and allows remote control of the mobile crane to be performed easily and easily.

In the third invention, information such as terrestrial features that are not reproduced in the three-dimensional image in the virtual space is displayed. This prevents erroneous operations during remote control of the mobile crane, and allows remote control of the mobile crane to be performed easily and simply.

In the fourth invention, the operating direction reference of the remote operating terminal is such that the boom tip of the mobile crane photographed from arbitrary camera coordinates and in an arbitrary photographing direction moves in the operating direction of the crane operating unit in the displayed state. is set, so it can be done intuitively without being aware of the positional relationship of the viewpoint with respect to the mobile crane. This prevents erroneous operations during remote control of the mobile crane, and allows remote control of the mobile crane to be performed easily and simply.

In the fifth invention and the sixth invention, the tip of the boom of the mobile crane photographed from arbitrary camera coordinates and in an arbitrary photographing direction is remotely controlled so that the tip of the boom in the mobile crane is moved in the operating direction of the crane operating unit in the displayed state. Since the operation terminal generates the control signal, the operation can be performed intuitively without being aware of the positional relationship of the camera coordinates with respect to the mobile crane. This prevents erroneous operations during remote control of the mobile crane, and allows remote control of the mobile crane to be performed easily and easily.

FIG. 2 is a side view showing the overall configuration of the crane. FIG. 2 is a block diagram showing the control configuration of the crane. FIG. 1 is a plan view showing a schematic configuration of a remote control terminal according to a first embodiment. FIG. 2 is a block diagram showing a control configuration of a remote control terminal. FIG. 5 shows a first embodiment of a remote control terminal. (A) shows a state in which a three-dimensional image seen from the side of the crane is displayed on the remote control terminal, and (B) shows a state in which a three-dimensional image seen from the front side of the crane is displayed on the remote control terminal. . FIG. 6 shows a first embodiment of a remote control terminal. (A) shows an enlarged view of a three-dimensional image of the crane displayed on the remote control terminal, and (B) shows a state in which the hoisted load moving operating tool of the remote control terminal is operated. FIG. 3 is a partially enlarged view showing the display device when the suspended load moving operating tool is operated on the remote control terminal in a state where a three-dimensional image of the crane and the feature is displayed. FIG. 8 is a plan view showing a crane controlled by a remote control terminal operated as shown in FIG. 7; FIG. 7 is a plan view showing a schematic configuration of a second embodiment of a remote control terminal. FIG. 10 shows a second embodiment of the remote control terminal. (A) shows an unmanned flying vehicle controlled by a remote control terminal, and (B) shows a control image taken by the unmanned flying vehicle.

EMBODIMENT OF THE INVENTION Below, the crane 1 which is a mobile crane based on 1st embodiment of this invention is demonstrated using FIG. 1 and FIG. In this embodiment, a rough terrain crane will be described, but an all-terrain crane, a truck crane, a loaded truck crane, etc. may also be used.

As shown in FIG. 1, a crane 1 is a mobile crane that can be moved to an unspecified location. The crane 1 includes a vehicle 2, a crane device 6 that is a working device, a control device 31, and a remote control terminal 32 (see FIG. 2) that can remotely control the crane device 6.

The vehicle 2 is a moving body that transports the crane device 6. The vehicle 2 has a plurality of wheels 3 and runs using an engine 4 as a power source. The vehicle 2 is provided with an outrigger 5. The outrigger 5 includes an overhang beam that can be hydraulically extended to both sides of the vehicle 2 in the width direction, and a hydraulic jack cylinder that can be extended in a direction perpendicular to the ground. The vehicle 2 can extend the workable range of the crane 1 by extending the outriggers 5 in the width direction of the vehicle 2 and grounding the jack cylinder.

The crane device 6 is a device that lifts the cargo W using a wire rope. The crane device 6 includes a rotating base 7, a boom 9, a jib 9a, a main hook block 10, a sub hook block 11, a hydraulic cylinder 12 for luffing, a main winch 13, a main wire rope 14, a sub winch 15, a sub wire rope 16, and a cabin. Equipped with 17th grade.

The turning table 7 is a device for turning the crane device 6. The swivel base 7 is configured to be rotatable about the center of an annular bearing. The turning table 7 is provided with a hydraulic turning hydraulic motor 8 which is an actuator. The turning table 7 is configured to be able to turn in one direction and the other direction by a turning hydraulic motor 8.

The swing hydraulic motor 8, which is an actuator, is rotated by a swing valve 23 (see FIG. 2), which is an electromagnetic proportional switching valve. The swing valve 23 can control the flow rate of the hydraulic oil supplied to the swing hydraulic motor 8 to an arbitrary flow rate. The turning table 7 is provided with a turning sensor 27 (see FIG. 2) that detects the turning position (angle) and turning speed of the turning table 7.

The boom 9 is a beam member that supports a wire rope so that the load W can be lifted up. The boom 9 is swingably provided with the proximal end of the base boom member substantially in the center of the swivel base 7 . The boom 9 is configured to be extendable and retractable in the axial direction by moving each boom member using an unillustrated telescoping hydraulic cylinder serving as an actuator. Furthermore, the boom 9 is provided with a jib 9a.

A telescoping hydraulic cylinder (not shown), which is an actuator, is telescopically operated by a telescoping valve 24 (see FIG. 2), which is an electromagnetic proportional switching valve. The boom 9 is provided with an expansion/contraction sensor 28 for detecting the length of the boom 9, a weight sensor for detecting the weight of the cargo W, and the like.

The hanging load camera 9b (see FIG. 2) is a photographing device that photographs the load W and the features around the load W. The suspended load camera 9b is provided at the tip of the boom 9. The hanging load camera 9b is configured to be able to photograph the local features and terrain around the load W and the crane 1 from vertically above the load W.

The main hook block 10 and the sub hook block 11 are members for hanging cargo W. The main hook block 10 is provided with a plurality of hook sheaves around which a main wire rope 14 is wound, and a main hook 10a on which a load W is hung. The sub-hook block 11 is provided with a sub-hook 11a for hanging cargo W.

The hydraulic cylinder 12 for raising and lowering is an actuator that raises and lowers the boom 9 and maintains the attitude of the boom 9. The undulation hydraulic cylinder 12 is expanded and contracted by a levitation valve 25 (see FIG. 2), which is an electromagnetic proportional switching valve. The boom 9 is provided with a luffing sensor 29 (see FIG. 2) that detects the luffing angle of the boom 9.

The main winch 13 and the sub winch 15 perform winding in (winding up) and letting out (lowering) the main wire rope 14 and the sub wire rope 16. The main winch 13 is rotated by a main hydraulic motor (not shown) whose actuator is a main drum around which the main wire rope 14 is wound, and the sub winch 15 is rotated by a main hydraulic motor (not shown) whose actuator is a main drum around which the sub wire rope 16 is wound. It is configured to be rotated by a hydraulic motor.

The main hydraulic motor is rotated by a main valve 26m (see FIG. 2), which is an electromagnetic proportional switching valve. The main winch 13 is configured to control a main hydraulic motor using a main valve 26m and to be operable at arbitrary loading and unwinding speeds. Similarly, the sub-winch 15 is configured to control a sub-hydraulic motor by a sub-valve 26s (see FIG. 2), which is an electromagnetic proportional switching valve, so that it can be operated at arbitrary loading and unrolling speeds.

The cabin 17 is mounted on the swivel base 7. A cockpit (not shown) is provided. In the cockpit, there are operating tools for operating the vehicle 2, a turning operating tool 18 for operating the crane device 6, a levitation operating tool 19, a telescopic operating tool 20, a main drum operating tool 21m, a sub-drum operating tool 21s, etc. (See Figure 2).

The communication device 22 (see FIG. 2) is a device that receives control signals from the remote control terminal 32 via a wide area information communication network, etc., and transmits control information etc. from the crane device 6 via the wide area information communication network etc. It is. The communication device 22 is provided in the cabin 17. The communication device 22 is configured to receive control signals and the like from the remote control terminal 32 and transfer them to the control device 31 of the crane 1. Further, the communication device 22 is configured to transfer control information from the control device 31 and a suspended load image i1 from the suspended load camera 9b to the remote control terminal 32.

The GNSS receiver 30 (see FIG. 2), which is a position detection unit, is a receiver that constitutes a global navigation satellite system, and receives ranging radio waves from a satellite and uses the position coordinates of the receiver. This is a device that detects a certain latitude, longitude, and altitude. The GNSS receiver 30 is provided at the tip of the boom 9 and the cabin 17 (hereinafter, the GNSS receivers provided at the tip of the boom 9 and the cabin 17 are collectively referred to as "GNSS receiver 30"). ). That is, the crane 1 can acquire the position coordinates of the tip of the boom 9 and the position coordinates of the cabin 17 using the GNSS receiver 30. Further, the crane 1 can detect the arrangement of the boom 9 with respect to the tip of the boom 9 (the position of the load W) using the GNSS receiver 30. In the following embodiments, the crane 1 detects the tip position of the boom 9 using the GNSS receiver 30, but the crane 1 detects the tip position of the boom 9 using a known position detection means such as a fixed-point camera or short-range wireless communication. It may be configured to detect the position of the tip.

As shown in FIG. 2, the control device 31 is a device that controls the actuators of the crane 1 via each operation valve. The control device 31 is provided inside the cabin 17. The control device 31 may actually have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected via a bus, or it may have a configuration consisting of a one-chip LSI or the like. The control device 31 stores various programs and data for controlling the operations of each actuator, switching valve, sensor, and the like.

The control device 31 is connected to the suspended load camera 9b, the swing operation tool 18, the up/down operation tool 19, the telescopic operation tool 20, the main drum operation tool 21m, and the sub-drum operation tool 21s, and acquires the suspended load image i1 of the suspended load camera 9b. However, the operation amount of each of the turning operation tool 18, the up-and-down operation tool 19, the main drum operation tool 21m, and the sub-drum operation tool 21s can be acquired.

The control device 31 is connected to the communication device 22, and can acquire control signals from the remote control terminal 32 and transmit control information from the crane device 6, a suspended load image i1 from the suspended load camera 9b, and the like.

The control device 31 is connected to the swing valve 23, the expansion/contraction valve 24, the undulating valve 25, the main valve 26m, and the sub valve 26s, and is connected to the swing valve 23, the undulating valve 25, the main valve 26m, and the sub valve 26s. A control signal can be transmitted to valve 26s.

The control device 31 is connected to the rotation sensor 27, the expansion/contraction sensor 28, and the levitation sensor 29, and is capable of acquiring posture information such as the rotation position of the swivel base 7, boom length, and levitation angle, and the weight of the cargo W. can.

The control device 31 is connected to the GNSS receiver 30 and can acquire the position coordinates of the tip of the boom 9 and the position coordinates of the cabin 17. Further, the control device 31 can calculate the arrangement of the boom 9 with respect to the tip of the boom 9 (load W) from the obtained position coordinates of the tip of the boom 9 and the position coordinates of the cabin 17.

The control device 31 generates a control signal corresponding to each operating tool based on the amount of operation of the turning operating tool 18, the up-and-down operating tool 19, the main drum operating tool 21m, and the sub-drum operating tool 21s.

The crane 1 configured as described above can move the crane device 6 to an arbitrary position by driving the vehicle 2. In addition, the crane 1 can raise the boom 9 to a desired hoisting angle using the hoisting hydraulic cylinder 12 by operating the hoisting device 19, and extend the boom 9 to a desired boom length by operating the telescoping device 20. By doing so, the lifting height and working radius of the crane device 6 can be expanded. Further, the crane 1 can transport the load W by hoisting the load W using the sub-drum operating tool 21s or the like and rotating the swivel base 7 by operating the swing operating tool 18.

Next, the remote control terminal 32 for remotely controlling the crane 1 will be described using FIGS. 3 to 5.

As shown in FIG. 3, the remote control terminal 32 is a device used to remotely control the crane 1. The remote control terminal 32 includes a casing 33, a viewpoint change operating tool 34 which is an image operating section provided on the operating surface of the casing 33, and a suspended load moving operating tool 35 which is a crane operating section provided on the operating surface of the casing 33. , terminal-side turning operating tool 36, terminal-side telescopic operating tool 37, terminal-side main drum operating tool 38m, terminal-side sub-drum operating tool 38s, terminal-side undulation operating tool 39, display device 40 as a display section, terminal-side communication device 41 and a terminal-side control device 43 (see FIG. 4). The remote control terminal 32 transmits control signals for the operating valves of each actuator that moves the load W by operating the suspended load moving operating tool 35 or various operating tools to the crane device 6 via a wide area information communication network (such as the Internet). .

The housing 33 is the main component of the remote control terminal 32. The housing 33 is configured to have a size that allows the operator to hold it in his/her hand. The housing 33 has a viewpoint change operation tool 34, a suspended load movement operation tool 35, a terminal-side rotation operation tool 36, a terminal-side telescopic operation tool 37, a terminal-side main drum operation tool 38m, and a terminal-side sub-drum operation tool 38s on the operation surface. , a terminal-side undulating operation tool 39, a display device 40, and a terminal-side communication device 41 (see FIGS. 2 and 4).

The viewpoint changing operating tool 34 is an operating tool into which an instruction to change the viewpoint position and viewpoint direction of the three-dimensional image G displayed on the display device 40 is input. The viewpoint change operation tool 34 includes a rotatable operation stick protruding from the operation surface of the housing 33, and a sensor (not shown) that detects the direction and amount of rotation, and the direction and amount of tilting of the operation stick. The viewpoint change operation tool 34 sends a signal regarding the position and direction of the viewpoint of the three-dimensional image G in the virtual space displayed on the display device 40 to the terminal-side control device 43 by operating the operation stick. configured to communicate. That is, the viewpoint change operation tool 34 transmits an operation signal regarding the amount of displacement of the three-dimensional image G in the virtual space displayed on the display device 40 to the terminal-side control device 43 when the operation stick is operated. It is configured as follows.

The suspended cargo moving operating tool 35, which is the first operating section, is an operating tool into which an instruction to move the cargo W in an arbitrary direction at an arbitrary speed on an arbitrary horizontal plane is input. The suspended load moving operation tool 35 includes an operation stick that stands up substantially perpendicularly from the operation surface of the casing 33, and a sensor (not shown) that detects the tilting direction and amount of the operation stick. The suspended load moving operation tool 35 is configured such that an operation stick can be tilted in any direction. The suspended load moving operation tool 35 is configured to transmit a signal about the angle from the upper direction of the remote control terminal 32 to the tilting direction of the operating stick detected by the sensor and the tilting amount to the terminal side control device 43. ing. The remote control terminal 32 has an arrow Aa pointing upward toward the operation surface of the housing 33, an arrow Ab pointing rightward toward the operation surface, an arrow Ac pointing downward toward the operation surface, and an arrow Ac pointing downward toward the operation surface. An arrow Ad indicating the left direction is displayed as a guide for tilting the suspended load moving operation tool 35.

The terminal-side turning operation tool 36 is an operation tool into which an instruction to turn the crane device 6 in an arbitrary moving direction at an arbitrary moving speed is input. The terminal-side turning operation tool 36 includes an operation stick that stands up substantially perpendicularly from the operation surface of the housing 33 and a sensor (not shown) that detects the tilting direction and amount of the operation stick.

The terminal-side telescopic operating tool 37 is an operating tool into which an instruction to extend and retract the boom 9 at an arbitrary speed is input. The terminal-side telescoping operation tool 37 includes an operation stick that stands up from the operation surface of the housing 33 and a sensor (not shown) that detects the direction and amount of tilt of the operation stick.

The terminal-side main drum operating tool 38m is an operating tool into which an instruction to rotate the main winch 13 at an arbitrary speed and in an arbitrary direction is input. The terminal-side main drum operation tool 38m includes an operation stick that stands up from the operation surface of the housing 33, and a sensor (not shown) that detects the direction and amount of tilt of the operation stick. The terminal side sub-drum operating tool 38s is similarly configured.

The terminal side hoisting operation tool 39 is an operation tool into which an instruction for hoisting the boom 9 at an arbitrary speed is input. The terminal-side undulating operation tool 39 includes an operation stick that stands up from the operation surface of the casing 33 and a sensor (not shown) that detects the direction and amount of tilt of the operation stick.

The display device 40 is a display device 40 that displays various information such as posture information of the crane 1 and information on the cargo W. The display device 40 is composed of an image display device such as a liquid crystal screen. The display device 40 is provided on the operation surface of the housing 33. The display device 40 displays a three-dimensional image G of the crane 1 placed in the virtual space and a three-dimensional image G of the ground surface, features, etc. within the movable range of the crane 1 (hereinafter collectively referred to as "three-dimensional image G"). ) is displayed. Although the display device 40 is provided in the remote control terminal 32 in this embodiment, it may be a monitor separate from the remote control terminal 32.

Further, the display device 40 includes an arrow Aa pointing upward toward the operation surface of the housing 33, an arrow Ab pointing rightward toward the operation surface, an arrow Ac pointing downward toward the operation surface, and an arrow Ac pointing downward toward the operation surface. An arrow Ad indicating the left direction is displayed as a guideline for the direction in which the suspended load moving operation tool 35 is tilted.

As shown in FIG. 4, the terminal side communication device 41 is a device that receives control information, etc. of the crane device 6 via a wide area information communication network, etc., and transmits control information, etc. from the remote control terminal 32 to the crane device 6. It is. The terminal side communication device 41 is provided inside the housing 33. The terminal-side communication device 41 is configured to transmit the lifted load image i1 (see FIG. 7), control signal, etc. from the crane device 6 to the terminal-side control device 43 upon reception. Further, the terminal side communication device 41 is configured to transmit control information from the terminal side control device 43 to the crane device 6 via the communication device 22 of the crane 1 from a wide area information communication network or the like.

The terminal-side control device 43, which is a control unit, is a device that controls the remote control terminal 32. The terminal side control device 43 is provided inside the casing 33 of the remote control terminal 32. The terminal side control device 43 may actually have a configuration in which a CPU, ROM, RAM, HDD, etc. are connected via a bus, or may have a configuration consisting of a one-chip LSI or the like. The terminal-side control device 43 includes a three-dimensional information acquisition section 42 . The terminal side control device 43 includes a suspended load moving operation tool 35, a viewpoint changing operation tool 34, a terminal side turning operation tool 36, a terminal side telescopic operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, and a terminal side control device 38m. Various programs and data are stored in order to control the operations of the side raising/lowering operation tool 39, the display device 40, the terminal side communication device 41, etc.

The terminal-side control device 43 controls a suspended load moving operation tool 35, a terminal-side rotation operation tool 36, a terminal-side telescopic operation tool 37, a terminal-side main drum operation tool 38m, a terminal-side sub-drum operation tool 38s, and a terminal-side undulating operation tool 39. It is possible to obtain an operation signal consisting of the tilting direction and tilting amount of the operation stick of each operating tool. Furthermore, the terminal-side control device 43 is connected to the viewpoint change operation tool 34 and can acquire an operation signal consisting of the rotation direction, rotation amount, tilting direction, and tilt amount input to the viewpoint change operation tool 34.

The terminal side control device 43 is connected to the terminal side communication device 41 and can send and receive various information to and from the control device 31 through the communication device 22 of the crane device 6 connected via the wide area information communication network. . Specifically, the terminal-side control device 43 acquires the posture information of the crane 1, the suspended load image i1 taken by the suspended load camera 9b, the movable range of the crane 1, and the current position of the tip of the boom 9 from the control device 31. be able to.

The three-dimensional information acquisition unit 42 of the terminal-side control device 43 acquires three-dimensional information (for example, , information on the three-dimensional shape of the crane 1), three-dimensional information on the features within the movable range of the crane 1 (for example, information on the three-dimensional shape of the features), and the like.

The terminal-side control device 43 controls each operation acquired from each sensor of the terminal-side turning operating tool 36, the terminal-side telescopic operating tool 37, the terminal-side main drum operating tool 38m, the terminal-side sub-drum operating tool 38s, and the terminal-side undulation operating tool 39. Control signals for the corresponding swing valve 23, expansion/contraction valve 24, undulation valve 25, main valve 26m, and sub-valve 26s can be generated from the stick operation signal.

The terminal side control device 43 acquires the posture information of the crane 1 from the control device 31 of the crane 1, the movable range of the crane 1 and the current position of the tip of the boom 9, the three-dimensional information of the crane 1, and the information within the movable range of the crane 1. A three-dimensional image G of the crane 1 in the current posture of the crane 1 and the features within the current movable range of the crane 1 can be generated based on the three-dimensional information of the features.

The terminal side control device 43 is connected to the display device 40, and displays on the display device 40 a three-dimensional image G of the crane 1 in the current posture of the crane 1 and features within the current movable range of the crane 1, from the suspended load camera 9b. The suspended load image i1 and various information acquired from the crane 1 can be displayed. The terminal-side control device 43 also controls the three-dimensional image G displayed on the display device 40 to an arbitrary viewpoint position and position linked to the rotation direction, rotation amount, tilting direction, and tilting amount input to the viewpoint change operation tool 34. It can be displayed as a three-dimensional image G from the direction of the viewpoint.

The terminal side control device 43 causes the suspended load moving operation tool 35 to perform a tilting operation based on the display state, which is the position and orientation on the screen of the three-dimensional image G of the crane 1 in the virtual space displayed on the display device 40. A control signal for the crane 1 is generated when the crane 1 is operated. For example, when the hanging load moving operation tool 35 is tilted in the direction of arrow Aa or the direction of arrow Ac (hereinafter simply referred to as "the vertical direction of remote control terminal 32"), which is the vertical direction of remote control terminal 32, The terminal side control device 43 generates a control signal for the crane 1 in which the tip of the boom 9 is moved horizontally in the virtual space and in a direction perpendicular to the operation surface of the housing 33. Further, the hanging load moving operation tool 35 is tilted in the left-right direction toward the operation surface of the casing 33 in the direction of arrow Ab or in the direction of arrow Ad (hereinafter simply referred to as "the left-right direction of the remote control terminal 32"). If so, the terminal-side control device 43 generates a control signal for the crane 1 in which the tip of the boom 9 is moved horizontally in the virtual space in the left-right direction toward the operation surface of the housing 33. In this way, when the suspended load moving operation tool 35 is tilted in an arbitrary direction, the terminal side control device 43 changes the state of the three-dimensional image G of the crane 1 displayed in the virtual space into the virtual space. A control signal is generated for the crane 1 in which the tip of the boom 9 is moved horizontally and in the tilting direction of the suspended load moving operating tool 35.

Furthermore, the terminal-side control device 43 generates a control signal for the crane 1 and directs the tip of the boom 9 in the three-dimensional image G of the crane 1 displayed on the display device 40 in the direction in which the suspended load moving operation tool 35 is tilted. move it. In other words, the remote control terminal 32 can check the operating state of the crane 1 in advance based on the movement of the three-dimensional image G of the crane 1 in the virtual space displayed on the display device 40. The terminal-side control device 43 transmits a control signal to the control device 31 of the crane 1 when the generated control signal is transmitted or when a predetermined condition (for example, a predetermined time has elapsed since the generation of the control signal) is satisfied.

As shown in FIG. 5, the terminal-side control device 43 (see FIG. 4) operates based on operation signals related to the rotation direction, rotation amount, tilt direction, and tilt amount acquired from the viewpoint change operation tool 34 that has been rotated and tilted. The rotated and moved three-dimensional image G is displayed on a display screen. In this embodiment, the forward direction of the crane 1 is defined as the X-axis direction, the direction perpendicular to the forward direction of the crane 1 is defined as the Y direction, and the vertical direction of the crane 1, which is a direction perpendicular to the ground surface in virtual space, is defined as the Z direction. do.

As shown in FIG. 5(A), the terminal side control device 43 acquires the posture information of the crane 1 obtained from the control device 31 of the crane 1, the movable range of the crane 1, and the current position of the tip of the boom 9, and the information obtained from the BIM. The three-dimensional image G is displayed on the display device 40 in the virtual space based on the three-dimensional information of the crane 1 and the three-dimensional information of the features within the movable range of the crane 1. In this embodiment, a three-dimensional image G of the crane 1 is displayed on the display device 40, at a viewpoint position from the left side in the forward direction of the crane 1, with the direction of the line of sight being along the Y-axis.

As shown in FIG. 5(B), when the viewpoint change operation tool 34 is rotated and tilted, the terminal side control device 43 controls the rotation direction, rotation amount, tilt direction, and tilt amount of the viewpoint change operation tool 34. Based on this, the three-dimensional image G of the crane 1 displayed on the display device 40 is rotated and moved. The terminal side control device 43 causes the display device 40 to display the state shown in FIG. 5(A) when the viewpoint change operation tool 34 is rotated counterclockwise and the remote control terminal 32 is tilted downward. The three-dimensional image G of the crane 1 is rotated counterclockwise about the Z-axis, and the state shown in FIG. 5B, which is rotated counterclockwise about the X-axis, is displayed on the display device 40.

As shown in FIG. 6, the terminal-side control device 43 (see FIG. 4) generates a control signal for the crane 1 based on the operation signal regarding the tilting direction and tilting amount obtained from the suspended load moving operation tool 35 that has been tilted. At the same time, the tip of the boom 9 in the three-dimensional image G of the crane 1 is moved in the direction in which the suspended load moving operation tool 35 is tilted. The terminal side control device 43 displays on the display device 40 when the suspended load moving operation tool 35 is tilted in the direction of arrow Aa, which is the upward direction of the remote control terminal 32 (see FIG. 6(A)). The tip of the boom 9 in the three-dimensional image G of the crane 1 is moved from its displayed state horizontally in the virtual space and in a direction perpendicular to the operation surface of the remote control terminal 32 (see FIG. 6(B)). In other words, the terminal-side control device 43 directs the tip of the boom 9 in the display state of the three-dimensional image G of the crane 1 to the remote control terminal in the same direction as the tilting direction of the suspended load moving operation tool 35 on the screen of the display device 40. 32 upwards (see white arrow). The crane 1 in the virtual space moves toward the −X axis direction, in which the tip of the boom 9 is in the backward movement direction, and toward the Y axis, which is the left direction in the forward movement direction.

Control of the crane 1 by the remote control terminal 32 will be described below with reference to FIGS. 7 and 8. In this embodiment, it is assumed that the crane 1 is placed at a position far enough away that the operator who operates the remote control terminal 32 cannot see it. It is assumed that the crane 1 and the remote control terminal 32 are in a state where they can communicate via a wide area information communication network. As a result, the crane 1 can be operated by the remote control terminal 32 regardless of whether it is in Japan or overseas as long as it can be connected to a wide area information communication network. Further, it is assumed that the remote control terminal 32 has acquired posture information of the crane 1, the movable range of the crane 1, and the current position of the tip of the boom 9 of the crane 1 from the control device 31 of the crane 1. Further, it is assumed that the remote control terminal 32 acquires three-dimensional information about the crane 1 and three-dimensional information about features at the work site from a BIM possessed by a server (not shown) or the like.

As shown in FIG. 7, the display device 40 of the remote control terminal 32 displays a three-dimensional image G of the crane 1 and features within the movable range of the crane 1. The three-dimensional image G displayed on the display device 40 is rotated and moved to an arbitrary viewpoint position and direction by the viewpoint change operation tool 34.

When the hanging load moving operation tool 35 is tilted in the direction of the arrow Aa, which is the upward direction of the remote control terminal 32 (see the arrow in FIG. 6), the terminal side control device 43 (see FIG. 4) displays the information on the display device 40. In the displayed state of the three-dimensional image G of the crane 1, a control signal is generated to move the tip of the boom 9 horizontally in the virtual space and in a direction perpendicular to the operation surface of the housing 33. At the same time, the terminal-side control device 43 moves the tip of the boom 9 in the three-dimensional image G of the crane 1 horizontally in the virtual space and in a direction perpendicular to the operation surface of the housing 33 (see white arrow) . The terminal side control device 43 transmits the control signal to the control device 31 of the crane 1 (see FIG. 2) when an operation for transmitting the generated control signal is performed.

The terminal-side control device 43 winds up or lowers the main wire rope 14 or the sub-wire rope 16 when the terminal-side main drum operating tool 38m or the terminal-side sub-drum operating tool 38s is operated in the vertical direction of the remote control terminal 32. In other words, regardless of the display state of the three-dimensional image G of the crane 1 displayed on the display device 40, the terminal-side control device 43 controls whether the terminal-side main drum operating tool 38m or the terminal-side sub-drum operating tool 38s is connected to the remote control terminal 32. When the load W is operated upward, a control signal is generated so that the load W moves in a direction away from the ground. The terminal-side control device 43 also sends a control signal so that when the terminal-side main drum operating tool 38m or the terminal-side sub-drum operating tool 38s is operated downward on the remote control terminal 32, the cargo W moves in a direction closer to the ground. generate.

As shown in FIG. 8, the control device 31 (see FIG. 2) of the crane 1 acquires a control signal from the terminal-side control device 43 (see FIG. 4) of the remote control terminal 32 using a wide area information communication network or the like. The control device 31 controls each valve of each actuator based on the acquired control signal. The crane 1 moves the tip of the boom 9 so as to correspond to the movement of the tip of the boom 9 in the display state of the three-dimensional image G of the crane 1 on the display device 40 shown in FIG. 7 (see white arrow).

With this configuration, the remote control terminal 32 (see FIG. 4) can control the display state of the three-dimensional image G (see FIG. 7) of the crane 1 in the virtual space displayed from any viewpoint and direction of line of sight. Since a control signal is generated so that the tip of the boom 9 moves in the tilting direction of the suspended load moving operation tool 35 (that is, the direction of crane operation), the crane 1 can be moved without being aware of the positional relationship of the viewpoint with respect to the crane 1. remote control is intuitive. Further, since the control signal for the crane 1 is generated based on the movement of the crane 1 using the three-dimensional image G in the virtual space, the crane 1 is operated after considering the surrounding situation and operating conditions. This prevents erroneous operation during remote control of the crane 1, and allows remote control of the crane 1 to be performed easily and simply.

Note that, as shown in FIG. 7, the display device 40 of the remote control terminal 32 may display the suspended load image i1 captured by the suspended load camera 9b (see FIG. 2) of the crane 1. The terminal-side control device 43 causes the display device 40 to display the suspended load image i1 acquired from the control device 31 of the crane 1 in a state rotated by the rotation angle of the three-dimensional image G of the crane 1 around the Z-axis.

With this configuration, information such as features that are not reproduced in the three-dimensional image G in the virtual space is displayed by the hanging load image i1. This prevents erroneous operation during remote control of the mobile crane 1, and allows remote control of the mobile crane 1 to be performed easily and simply.

Next, the crane 1 and the remote control terminal 32, which is a second embodiment of the remote control terminal for the crane 1, according to the present invention will be described using FIGS. 9 and 10. Note that the crane 1 and the remote control terminal 32 according to the following embodiments are applied instead of the crane 1 and the remote control terminal 32 in the crane 1 and the remote control terminal 32 shown in FIGS. 1 to 8. By using the names, figure numbers, and symbols used in the explanation, we will refer to the same things, and in the following embodiments, specific explanations will be omitted for points similar to the already explained embodiments, and different parts will be omitted. I will mainly explain.

As shown in FIG. 9, the remote control terminal 32 is a device used to remotely control the crane 1. The remote control terminal 32 includes a casing 33, a camera position change operating tool 44 which is an aircraft operating section, a suspended load moving operating tool 35 of the casing 33, a terminal side turning operating tool 36, a terminal side telescopic operating tool 37, and a terminal side operating tool 35. It is equipped with a main drum operating tool 38m, a terminal-side sub-drum operating tool 38s, a terminal-side elevation operating tool 39, a display device 40, a terminal-side communication device 41, an unmanned flying vehicle 45, an aerial camera 46, a terminal-side control device 47, and the like.

The camera position change operating tool 44 is an operating tool into which an operation of the unmanned aerial vehicle 45 that is photographing the image displayed on the display device 40 is input. That is, the camera position change operating tool 44 is an operating tool that changes the position coordinates and photographing direction of the aerial camera 46 by operating the unmanned flying object 45. The camera position change operation tool 44 includes a rotatable operation stick protruding from the operation surface of the casing 33, and a sensor (not shown) that detects the direction and amount of rotation, and the direction and amount of tilt of the operation stick.

The camera position change operation tool 44 transmits signals regarding the position coordinates of the unmanned flying object 45 holding the aerial camera 46 and the direction of the camera to the terminal side control device 47 by operating the operation stick. It is configured. In other words, when the operating stick is operated, the camera position change operating tool 44 generates a signal regarding the camera coordinates and the amount of displacement in the shooting direction of the control image i2, which is the image from the aerial camera 46 displayed on the display device 40. is configured to transmit the information to the terminal-side control device 47.

The display device 40 is a display device 40 that displays various information such as posture information of the crane 1 and information on the cargo W. The display device 40 is composed of an image display device such as a liquid crystal screen. The display device 40 is provided on the operation surface of the housing 33. The display device 40 displays a control image i2 of the crane 1 and the ground surface, features, etc. within the movable range of the crane 1, taken by the aerial camera 46.

The terminal side communication device 41 receives control information of the crane device 6, unmanned flying vehicle 45, and aerial camera 46, control video i2 from the aerial camera 46, etc. via a wide area information communication network, etc., and receives control information from the remote control terminal 32. This is a device that transmits control information and the like to the crane device 6 and the unmanned flying vehicle 45. When the terminal-side communication device 41 receives a suspended load image i1 from the crane device 6, a control image i2 from the aerial camera 46, a control signal for the crane device 6 and the unmanned flying vehicle 45, etc., it transmits the same to the terminal-side control device 47. It is composed of The terminal side communication device 41 also transmits control information from the terminal side control device 47 from a wide area information communication network etc. to the crane device 6 via the communication device 22 of the crane 1, or to the unmanned aerial vehicle 45. is configured to do so.

The unmanned flying object 45 is a mobile device that transports an aerial camera 46. The unmanned flying object 45 has a plurality of rotary wings 45a (see FIG. 10(A)). By controlling the plurality of rotary wings 45a, the unmanned flying object 45 can fly while maintaining an arbitrary attitude or can hover. The unmanned aerial vehicle 45 can be moved to any position and stopped by a control signal from the remote control terminal 32. The unmanned aircraft 45 is provided with an aircraft-side GNSS receiver 45b (see FIG. 9) and an aerial camera 46. The unmanned aerial vehicle 45 can acquire the position coordinates of the unmanned aerial vehicle 45 using the aircraft-side GNSS receiver 45b. The unmanned aerial vehicle 45 can photograph the object from the camera coordinates, which are the positional coordinates of the unmanned aerial vehicle 45, and from the photographing direction by stopping flight.

The terminal-side control device 47, which is a control unit, is a device that controls the remote control terminal 32. The terminal-side control device 47 includes a photographing information acquisition section 48 . The terminal side control device 47 includes a suspended load moving operation tool 35, a terminal side turning operation tool 36, a terminal side telescopic operation tool 37, a terminal side main drum operation tool 38m, a terminal side sub drum operation tool 38s, a terminal side undulating operation tool 39, Various programs and data are stored in order to control the operations of the display device 40, the terminal-side communication device 41, the camera position change operation tool 44, and the like.

The terminal-side control device 47 is connected to the terminal-side communication device 41 and can send and receive various information to and from the unmanned aircraft 45 connected via a wide area information communication network or the like. Specifically, the terminal-side control device 47 can acquire camera coordinates, a shooting direction, and a control image i2 shot by the aerial camera 46 from the unmanned flying vehicle 45.

The terminal-side control device 47 is connected to the display device 40, and displays on the display device 40 a control image i2 of the current crane 1 and surrounding features etc. captured by the aerial camera 46 at arbitrary camera coordinates and from an arbitrary shooting direction. can be done.

The terminal side control device 47 controls the crane when the suspended load moving operation tool 35 is operated to tilt, based on the display state, which is the position and orientation on the screen of the control image i2 of the crane 1 displayed on the display device 40. 1 control signal is generated. Specifically, when the suspended load moving operation tool 35 is operated to tilt in the vertical direction of the remote control terminal 32, the terminal side control device 47 moves from the display state of the control image i2 horizontally and toward the operation surface of the housing 33. A control signal for the crane 1 that causes the tip of the boom 9 to move in a direction corresponding to the vertical direction is generated. Further, when the hanging load moving operation tool 35 is operated to tilt in the left-right direction of the remote control terminal 32, the terminal-side control device 47 moves horizontally from the display state of the control image i2 and in the left-right direction toward the operation surface of the housing 33. A control signal for the crane 1 that causes the tip of the boom 9 to move in a direction corresponding to is generated. In other words, the terminal side control device 47 moves the tip of the boom 9 in the displayed state of the control image i2 of the crane 1 in a direction corresponding to the same direction as the tilting direction of the suspended load moving operation tool 35 on the screen of the display device 40. generate a control signal to

As shown in FIG. 10(A), the unmanned flying object 45 stops and flies at an arbitrary position in response to a control signal from the remote control terminal 32. The unmanned flying object 45 transmits the position coordinates and attitude of the stopped flight to the remote control terminal 32 as camera coordinates and a photographing direction. At the same time, the unmanned flying object 45 transmits the control image i2 captured by the aerial camera 46 to the remote control terminal 32.

As shown in FIG. 10(B), the display device 40 of the remote control terminal 32 displays a control image i2 taken by the aerial camera 46. The control image i2 displayed on the display device 40 is photographed by the camera position changing operation tool 44 at arbitrary camera coordinates and from an arbitrary photographing direction. The terminal side control device 47 of the remote operation terminal 32 generates a control signal to move the tip of the boom 9 of the crane 1 in a direction corresponding to the tilting direction of the suspended load moving operation tool 35 on the screen of the display device 40.

With this configuration, the remote control terminal allows the tip of the boom 9 of the crane 1 displayed on the display device 40 to move in the direction corresponding to the tilting direction of the suspended load moving operation tool 35 in the displayed state. Since the terminal-side control device 47 of 32 generates the control signal, the crane 1 can be remotely operated intuitively without being aware of the positional relationship between the camera coordinates of the aerial camera 46, which is the viewpoint for the crane 1, and the photographing direction. . This prevents erroneous operation during remote control of the crane 1, and allows remote control of the crane 1 to be performed easily and simply.

In this embodiment, the remote control terminal 32 acquires the control video i2 from the aerial camera 46 of one unmanned flying vehicle 45, but the remote control terminal 32 acquires the control video i2 from the aerial camera 46 of each of the plurality of unmanned flying vehicles 45. A configuration may also be used in which the control image i2 is acquired. The remote control terminal 32 can arbitrarily switch between a plurality of control images i2 photographed from different photographing directions at different camera coordinates and use them to control the crane 1. With this configuration, there is no need to move the unmanned flying object 45 each time, so the crane 1 can be remotely controlled easily and easily. Furthermore, instead of the aerial camera 46 of the unmanned flying object 45, images from a ground camera installed at an arbitrary position may be used.

The above-described embodiment merely shows a typical form, and various modifications can be made without departing from the gist of the embodiment. Furthermore, it goes without saying that the present invention can be implemented in various forms, and the scope of the present invention is indicated by the description of the claims, and furthermore, the meaning of equivalents described in the claims and all the equivalents within the scope are Including changes.

The disclosure contents of the specification, drawings, and abstract included in the Japanese application of Japanese Patent Application No. 2019-096382 filed on May 22, 2019 are all incorporated into the present application.

1 Crane 6 Crane device 9 Boom 30 GNSS receiver 31 Control device 32 Remote control terminal 34 Viewpoint changing device 35 Hanging load moving device 40 Display device 41 Terminal side communication device 43 Terminal side control device 44 Camera position changing device 45 Unmanned Aircraft 46 Aerial camera 47 Terminal side control device

Claims (6)

A remote control terminal for a mobile crane equipped with a position detection unit that detects the current position of the tip of the boom,
a three-dimensional information acquisition unit that acquires three-dimensional information of the mobile crane and each feature within the movable range of the mobile crane;
a display unit that displays three-dimensional images of the mobile crane and each of the features within the movable range of the mobile crane in a virtual space;
a crane operating unit that receives a crane operation from an operator and remotely controls the mobile crane in response to the crane operation;
an image operation unit that receives an image display changing operation from the operator and operates a viewpoint position and a viewpoint direction in the three-dimensional image displayed on the display unit in response to the image display changing operation;
a control unit configured to be able to communicate with a control device of the mobile crane and controlling each part of the remote control terminal;
The control section,
acquiring posture information of the mobile crane, movable range information of the mobile crane, and current position information of the boom tip from a control device of the mobile crane;
The current three-dimensional image of the mobile crane and the current mobile crane are based on the information acquired from the control device of the mobile crane and the three-dimensional information acquired by the three-dimensional information acquisition unit. generating the three-dimensional image of a feature within a movable range of;
displaying the generated three-dimensional image in a virtual space of the display unit at the position of the viewpoint and the direction of the viewpoint input to the image operation unit;
When the crane operation is input to the crane operation unit, the coordinate system of the horizontal plane of the three-dimensional image displayed on the display unit and the crane operation are determined based on the position of the viewpoint and the direction of the viewpoint. and a control signal for remotely operating the mobile crane so that the boom tip displayed on the display section moves horizontally in the direction of operation of the crane operation. generate,
Remote control terminal. The crane operation unit is configured to be able to operate the three-dimensional image of the mobile crane displayed on the display unit,
The control unit generates a control signal for remotely operating the mobile crane based on operation information of the three-dimensional image by the crane operation unit.
The remote control terminal according to claim 1. The control unit acquires an image taken by a lifting camera of the mobile crane, and causes the display unit to display the acquired image together with the three-dimensional image.
The remote control terminal according to claim 1. A remote control terminal for a mobile crane equipped with a position detection unit that detects the current position of the tip of the boom,
an aerial camera that photographs the mobile crane and features within the movable range of the mobile crane;
a photographing information acquisition unit that acquires an image photographed by the aerial camera, and the position coordinates and photographing direction of the aerial camera;
a display unit that displays the video;
a crane operating unit that receives a crane operation from an operator and remotely controls the mobile crane in response to the crane operation;
a control unit configured to be able to communicate with a control device of the mobile crane and controlling each part of the remote control terminal;
The control section,
acquiring posture information of the mobile crane and current position information of the boom tip of the mobile crane from a control device of the mobile crane;
displaying the video image acquired by the shooting information acquisition unit on the display unit;
When the crane operation is input to the crane operation unit, the coordinate system of the horizontal plane of the image displayed on the display unit and the crane operation are determined based on the position coordinates and the shooting direction of the aerial camera. and a control signal for remotely operating the mobile crane so that the boom tip displayed on the display section moves horizontally in the direction of operation of the crane operation. generate,
Remote control terminal. an unmanned flying vehicle having the aerial camera;
an aircraft operating unit that operates the unmanned aircraft,
The photographing information acquisition unit acquires the position coordinates of the unmanned aerial vehicle and the direction of the aerial camera as the position coordinates and photographing direction of the aerial camera,
displaying the image taken by the aerial camera of the unmanned flying vehicle operated by the flying vehicle operating unit on the display unit;
The remote control terminal according to claim 4. comprising the remote control terminal according to claim 1,
actuating a boom based on the control signal received from the remote control terminal;
Mobile crane.

Images